Classifications

• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
  • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
  • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
  • B65G1/02—Storage devices
  • B65G1/04—Storage devices mechanical
  • B65G1/0492—Storage devices mechanical with cars adapted to travel in storage aisles
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
  • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
  • B25J11/00—Manipulators not otherwise provided for
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
  • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
  • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
  • B25J19/005—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators using batteries, e.g. as a back-up power source
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
  • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
  • B25J5/00—Manipulators mounted on wheels or on carriages
  • B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
  • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
  • B25J9/00—Program-controlled manipulators
  • B25J9/0084—Program-controlled manipulators comprising a plurality of manipulators
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
  • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
  • B25J9/00—Program-controlled manipulators
  • B25J9/0096—Program-controlled manipulators co-operating with a working support, e.g. work-table
• • D—TEXTILES; PAPER
  • D02—YARNS; MECHANICAL FINISHING OF YARNS OR ROPES; WARPING OR BEAMING
  • D02H—WARPING, BEAMING OR LEASING
  • D02H1/00—Creels, i.e. apparatus for supplying a multiplicity of individual threads
• • D—TEXTILES; PAPER
  • D03—WEAVING
  • D03J—AUXILIARY WEAVING APPARATUS; WEAVERS' TOOLS; SHUTTLES
  • D03J1/00—Auxiliary apparatus combined with or associated with looms
  • D03J1/12—Auxiliary apparatus combined with or associated with looms transferring bobbins between loom and winding station
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B60—VEHICLES IN GENERAL
  • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
  • B60L5/00—Current collectors for power supply lines of electrically-propelled vehicles
  • B60L5/005—Current collectors for power supply lines of electrically-propelled vehicles without mechanical contact between the collector and the power supply line
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B60—VEHICLES IN GENERAL
  • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
  • B60L5/00—Current collectors for power supply lines of electrically-propelled vehicles
  • B60L5/38—Current collectors for power supply lines of electrically-propelled vehicles for collecting current from conductor rails
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
  • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
  • B65H67/00—Replacing or removing cores, receptacles, or completed packages at paying-out, winding, or depositing stations
  • B65H67/06—Supplying cores, receptacles, or packages to, or transporting from, winding or depositing stations

Definitions

• the present invention relates to the automated loading of reels in a manufacturing installation.
• the present invention aims to overcome the disadvantages of the prior art. Summary of the invention
• the means of electrical recharging by contacts by mechanical friction or without contact by electromagnetic induction can also allow recharging with electrical energy of the electrical energy storage device of the first carriage while this first carriage is in the process of being move.
• the robotic arm of the first autonomous mobility trolley is an arm with 6 degrees of mobility and/or makes it possible to move a load weighing up to 40 kilograms, and/or makes it possible to move a load of 40 kilograms at a speed of up to 4 m/s.
• the autonomous mobility device comprises a second autonomous mobility trolley on which a reel supply rack is mounted, this second autonomous mobility trolley also comprising a control unit, autonomous movement means controlled by the the control unit, and an electrical energy storage device, and the autonomous movement means of this second autonomous mobility trolley being supplied with electrical energy by the electrical energy storage device of this second trolley.
• the second autonomous mobility trolley also comprises means of electrical recharging by contacts by mechanical friction or without contact by electromagnetic induction of its electrical energy storage device.
• the electrical energy storage device of the second autonomous mobility cart can be recharged with electrical energy while said second cart is in use.
• the electrical recharging means by mechanical friction contacts of the first carriage comprise an electrical connection arm to an electrical power supply rail provided in the manufacturing installation.
• the manufacturing installation comprising at least one aisle on either side of which are located feed racks for at least one processing machine.
• manufacturing facility at least one electrical power rail is attached to a power rack in each aisle of the facility.
• the manufacturing installation comprising at least one weaving machine, a supply rack makes it possible to receive spools making it possible to supply yarns to this weaving machine to manufacture a textile product from these yarns.
• Figure 4 is a side view of a first autonomous mobility trolley of an autonomous mobility device for loading coils according to the invention
• Figure 6 is a perspective view of a second autonomous mobility cart of an autonomous mobility device for loading coils according to the invention
• the invention relates to the automated loading and unloading of reels in a manufacturing installation.
• a spool 18 of wire 20 can weigh up to 12 kg.
• the autonomous mobility device 12 comprises a first autonomous mobility trolley 30 on which is mounted a robotic arm 32 making it possible to move at least one coil 18.
• the autonomous movement means 36 and the robotic arm 32 of the first autonomous mobility trolley 30 are supplied with electrical energy by the electrical energy storage device 38 of this first trolley 30.
• the robotic arm 32 of the first carriage 30 is for example an arm with 6 degrees of mobility.
• the robotic arm 32 can access a large number of coil receiving devices 24 from the same location in an aisle 22.
• the robotic arm 32 comprises for example a base 42 fixed to the first carriage 30, a base 44 mounted movable in rotation relative to this base 42 around a first axis of mobility Al, a lower arm 46 mounted movable in rotation relative to the base 44 around a second axis of mobility A2, an intermediate arm 48 mounted movable in rotation relative to the lower arm 46 around a third axis of mobility A3, an upper arm 50 mounted movable in rotation relative to the intermediate arm 48 around a fourth axis of mobility A4, and a gripping tool 52, for example a coil, mounted movable in rotation relative to the upper arm 50 around two axes of mobility A5, A6 perpendicular to each other.
• the base 42 of the robotic arm is raised by a non-zero height H above the first autonomous mobility trolley 30.
• the robotic arm 32 has a greater working range at height.
• the autonomous movement means 36 of the first autonomous mobility trolley 30 allow this first trolley to move autonomously on the floor S of the manufacturing installation.
• the autonomous movement means 36 allow the first autonomous mobility cart 30 to move autonomously in an aisle 22 of the manufacturing installation.
• These autonomous movement means 36 comprise for example several wheels 54, at least one of these wheels being driven in rotation by an electric motor supplied with electrical energy by the electrical energy storage device 38 of the first carriage and controlled by the control unit 34 of the first carriage.
• the autonomous movement means 36 comprise for example at least one sensor allowing the control unit 34 to analyze the environment of the first trolley to operate the movements of the trolley in an environment such as an installation manufacturing 10.
• the control unit 34 of the first carriage 30 comprises one or more processors and different memories.
• the electrical energy storage device 38 of this first carriage 30 takes for example the form of one or more electric batteries.
• these batteries are lithium type.
• the first autonomous mobility trolley 30 also includes means 40 for electrical recharging by contacts by mechanical friction or without contact by electromagnetic induction of its electrical energy storage device 38.
• the electrical recharging means 40 by mechanical friction contacts of the first carriage 30 comprise an arm 56 for electrical connection to an electrical supply rail 54 provided in the installation manufacturing 10.
• an electrical supply rail 54 is attached to a power rack 16 in each aisle of the installation.
• An electrical supply rail 54 can extend over several meters, and for example over the entire length on the ground of a power supply rack 16, or over the entire length of an aisle 22.
• the autonomous mobility device 12 can also comprise a second autonomous mobility trolley 60 on which is mounted a supply rack 62 of reels 18.
• This second trolley with autonomous mobility 60 makes it possible to supply the robotic arm 32 of the first carriage 30 with full reels 18.
• the second autonomous mobility trolley 60 also comprises a control unit 64, autonomous movement means 66 controlled by the control unit, and an electrical energy storage device 68.
• the autonomous movement means 66 are supplied with electrical energy by the electrical energy storage device 68 of this second carriage 60.
• the control unit 64 is for example supplied with electrical energy by the energy storage device electric 68 of this second carriage 60.
• the autonomous movement means 66 of the second autonomous mobility trolley 60 allow this second trolley to move autonomously on the floor S of the manufacturing installation.
• the autonomous movement means 66 allow the second autonomous mobility cart 60 to move autonomously in an aisle 22 of the manufacturing installation.
• These autonomous movement means 66 comprise for example several wheels (not visible in Figure 6), at least one of these wheels being driven in rotation by an electric motor supplied with electrical energy by the electrical energy storage device 68 of the second carriage and controlled by the control unit 64 of this second carriage.
• the electrical energy storage device 68 of this second carriage 60 takes for example the form of one or more electric batteries.
• these batteries are lithium type.
• the electrical recharging means 70 by mechanical friction contacts of the second carriage 60 comprise an electrical connection arm 72 to an electrical power supply rail provided in the manufacturing installation 10, and for example to the rail 54 electrical power supply used to power the electrical charging means 40 of the first carriage 30.
• the supply rack 62 of coils 18 of the second carriage 60 takes for example the form of plates 74 with holes 76 allowing interlocking with the ends of the coils 18.
• these perforated plates 74 can be manipulated by the robotic arm 32 of the first carriage 30.
• several perforated plates 74 can be stored on the second carriage 60 before being used for storing coils.
• the first carriage 30 or the second carriage 60 comprises a receiving tray 78 of empty reels 18.
• the first carriage 30 comprises this receiving tray 78 for empty reels.
• the invention also relates to a coil loading method using the autonomous mobility device 12 in a manufacturing installation 10.

Landscapes

• Engineering & Computer Science (AREA)
• Mechanical Engineering (AREA)
• Robotics (AREA)
• Textile Engineering (AREA)
• Warehouses Or Storage Devices (AREA)
• Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
• Replacement Of Web Rolls (AREA)
• Replacing, Conveying, And Pick-Finding For Filamentary Materials (AREA)

Applications Claiming Priority (2)

Publications (1)

Family

ID=82693809

Family Applications (1)

Country Status (5)

Family Cites Families (4)

• 2022
  • 2022-06-02 FR FR2205340A patent/FR3136184B1/fr active Active
• 2023
  • 2023-05-11 EP EP23727258.8A patent/EP4532143A1/de active Pending
  • 2023-05-11 US US18/870,899 patent/US20250353680A1/en active Pending
  • 2023-05-11 WO PCT/EP2023/062568 patent/WO2023232424A1/fr not_active Ceased
  • 2023-05-11 CN CN202380042423.7A patent/CN119255891A/zh active Pending

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